3D rig

I have used  Light Wave since version 5.0, and it is a great 3D modeling and animation program with really long traditions. It has support for inverse kinematics, so it is perfect for experimenting with different models of the robot.  I have made a 3D model and animated it.

The purpose is to find optimum leg configurations, sizes and placements. I can also use the model to predict what kind of forces and precision I will need in my actuators. This was the greatest take-away from my first limb prototype, the fact that I need to have actuators with more torque and a design with much more sturdy joints. This is my first result. Its a single walk cylcle: